• The Journal of Korea Robotics Society
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• v.5 no.4
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• pp.349-358
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• 2010

We presents a dynamic modeling of 4-wheel 2-DOF. WMR. The classic dynamic model utilizes a greatly simplified wheel motion representation and using of a simplified dynamic model confronts with a problem for accurate position control of wheeled mobile robot. In this paper, we treats the dynamic model for describes relationship between the wheel actuator force/torque and WMR motion through the use of Newton's equilibrium laws. To calculate the WMR position in real time, we introduced the Dead-Reckoning algorithms and the simulation result show that the proposed dynamic model is useful. We can be easily extend the proposed WMR model to mobile robot of similar type and this type of methodology is useful to analyze, design and control any kinds of rolling robots.

• Proceedings of the KSME Conference
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• 2003.04a
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• pp.1839-1844
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• 2003

In order to provide a tool for designing more efficient methods of mixing fabric, a simplified discrete element computational model was developed for modeling fabric dynamics in a rotating horizontal drum. Because modeling the interactions between actual pieces of fabric is quite complex, a simplified model was developed where individual pieces of bundled fabric are represented by spherical particles. The simulations are used to investigate fabric bundle kinematics, the power required to drive the rotating drum, and the power dissipated through normal and tangential contacts. Parametric studies indicate only fill percentage, drum rotation speed, and friction coefficient play significant roles in the fabric bundle dynamics.

• Journal of environmental and Sanitary engineering
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• v.17 no.1
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• pp.69-74
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• 2002

This study explored for treatment processes by investigating the treatment efficiency and reaction mechanism through oxidation reaction using UV and $O_3$ as oxidant in compensate the wastewater containing nitrobenzene that is non biodegradable organic. Also by modeling these reactions, we try to step explanation of optimum reaction rate and reaction mechanism as the development of the computer program predictable the reaction rate by modeling the reaction. By using this model, after kinetic constant for each reaction from an experimental data is made an optimization and for hardly contribute to reaction rate in reaction kinetic equation is made an ignorance and suppose the simplified reaction mechanism, examined the propriety of computer simulation model and simplified reaction mechanism by comparing and inspecting the reaction kinetic constant and masstransfer coefficient. An investigation results for destructional treatment of nitrobenzene in the wastewater as non-biddegradable organic using UV, $O_3{\;}O_2{\;}H_2O_2-UV$ as oxidant.

• Computers and Concrete
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• v.16 no.5
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• pp.683-701
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• 2015

When approached using nonlinear finite element (FE) techniques, structural analyses generate, for real RC structures, large complex numerical problems. Damage is a major part of concrete behavior, and the discretization technique is critical to limiting the size of the problem. Based on previous work, the ${\mu}$ damage model has been designed to activate the various damage effects correlated with monotonic and cyclic loading, including unilateral effects. Assumptions are formulated to simplify constitutive relationships while still allowing for a correct description of the main nonlinear effects. After presenting classical 2D finite element applications on structural elements, an enhanced simplified FE description including a damage description and based on the use of multi-fiber beam elements is provided. Improvements to this description are introduced both to prevent dependency on mesh size as damage evolves and to take into account specific phenomena (permanent strains and damping, steel-concrete debonding). Applications on RC structures subjected to cyclic loads are discussed, and results lead to justifying the various concepts and assumptions explained.

• 순환기질환의공학회:학술대회논문집
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• 2006.10a
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• pp.24-26
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• 2006

• Journal of Advanced Research in Ocean Engineering
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• v.1 no.1
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• pp.55-62
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• 2015

Floating structure such as tension leg platform, semi-submersible and spar are widely used in field of oil exploration and renewable energy system. All of these structures have the base cylinder support structure which have effective rule in overall dynamic of response. So the accurate and reliable modeling is needed for optimum design and understanding the physical background of these systems. The aim of this article is an analytical discussion on stochastic modeling of floating cylinder based support structure but an applicable one. Due to this a mathematical mass-damper-spring system of a floating cylinder of HAWAII WTG offshore wind as an applicable and innovative system is adopted to model a coupled degrees using random vibration in analytical way. A fully develop spectrum is adopted to solve the stochastic spectrum analytically by a proper approximation. Some acceptable assumption is adopted. The simplified but analytical and innovative hydrodynamic analysis of this study not only will help researcher to concentrate more physically on hydrodynamic analysis of floating structures but also can be useful for any quick, simplified and closed form analysis of a complicated problem in offshore engineering.

• Smart Structures and Systems
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• v.16 no.1
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• pp.1-26
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• 2015

Minimizing construction cost and reducing seismic damage are two conflicting objectives in the design of any new structure. In the present work, we try to develop a framework in order to solve the optimum performance-based design problem considering the construction cost and the seismic damage of steel moment-frame structures. The Park-Ang damage index is selected as the seismic damage measure because it is one of the most realistic measures of structural damage. The non-dominated sorting genetic algorithm (NSGA-II) is employed as the optimization algorithm to search the Pareto optimal solutions. To improve the time efficiency of the proposed framework, three simplifying strategies are adopted: first, simplified nonlinear modeling investigating minimum level of structural modeling sophistication; second, fitness approximation decreasing the number of fitness function evaluations; third, wavelet decomposition of earthquake record decreasing the number of acceleration points involved in time-history loading. The constraints of the optimization problem are considered in accordance with Federal Emergency Management Agency's (FEMA) recommended seismic design specifications. The results from numerical application of the proposed framework demonstrate the efficiency of the framework in solving the present multi-objective optimization problem.

• Earthquakes and Structures
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• v.7 no.3
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• pp.271-294
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• 2014

In recent years, along with the advances made in performance-based design optimization, the need for fast calculation of response parameters in dynamic analysis procedures has become an important issue. The main problem in this field is the extremely high computational demand of time-history analyses which may convert the solution algorithm to illogical ones. Two simplifying strategies have shown to be very effective in tackling this problem; first, simplified nonlinear modeling investigating minimum level of structural modeling sophistication, second, wavelet analysis of earthquake records decreasing the number of acceleration points involved in time-history loading. In this paper, we try to develop an efficient framework, using both strategies, to solve the performance-based multi-objective optimal design problem considering the initial cost and the seismic damage cost of steel moment-frame structures. The non-dominated sorting genetic algorithm (NSGA-II) is employed as the optimization algorithm to search the Pareto optimal solutions. The constraints of the optimization problem are considered in accordance with Federal Emergency Management Agency (FEMA) recommended design specifications. The results from numerical application of the proposed framework demonstrate the capabilities of the framework in solving the present multi-objective optimization problem.

• Journal of the Korea institute for structural maintenance and inspection
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• v.10 no.1
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• pp.139-148
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• 2006

The dynamic characteristics of a bridge deduced by using the modeling techniques depend on its stiffness and mass calculated from its geometric model. This research develops the FE modeling techniques for a steel plate girder bridge with composite section. and proves their validity by comparing the results with those from actual measurement. The FE modeling techniques are divided into two categories--a simplified one and two-dimensional model and a detailed three-dimensional model. In the meantime, the dynamic responses of the bridge tested for this research were measured by the ambient vibration some of accelerometers were been attached to its upper slab girder under normal traffic load. The Cross Power Spectrum obtained from the measurement was used to analyze the dynamic characteristics by natural excitation techniques. The analytic results are compared to those of each FE modeling, and thereby the modeling techniques were proved to be valid.

• Explosives and Blasting
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• v.39 no.3
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• pp.1-14
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• 2021

Rockburst is a sudden and violent failure of rock. During the failure process, excess energy is liberated as seismic energy, which in turn causes the surrounding rock mass to vibrate. The level of the ground vibration can reach a magnitude of over 4.5 in the Richter local scale. Thus, a rockburst can cause not only injury to persons, but also damage to both underground workings and surface structures. In this paper the source mechanism of rockburst is analyzed based mainly on the two reports of the Canadian Rockburst Research Program (CRRP). A simplified LS-DYNA modeling is also performed to identify the tensile failure patterns occurring in the remaining rock mass right after blasting in mine stope. The configuration of the simplified model will probably be useful in small-scale laboratory tests for investigating the source mechanism of rockburst.